The PC speaker can be disabled by unloading the pcspkr and snd_pcsp kernel modules:
Note: This will not disable your entire sound system, only the PC speaker.
rmmod pcspkr
rmmod snd_pcsp
Blacklisting the pcspkr and snd_pcsp modules will prevent udev from loading them at boot. Create the file:
/etc/modprobe.d/nobeep.conf
blacklist pcspkr
blacklist snd_pcsp
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